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浙江理工大學本科畢業(yè)設計
目錄
Abstract 6
第1章 緒論 9
1.1前言 9
1.2國內外蔬菜缽苗取苗機構的發(fā)展概述 11
1.2.1我國蔬菜缽苗移栽機械化發(fā)展概況 11
1.2.2我國蔬菜缽苗移栽機存在的問題 12
1.2.3我國蔬菜缽苗移栽機存在問題解決途徑分析 12
1.2.4國外蔬菜缽苗自動移栽機的發(fā)展和研究成果 13
1.2.5蔬菜缽苗移栽機發(fā)展方向 14
1.3國內取苗機構存在的主要問題和發(fā)展方向 15
1.3.1國內取苗機構發(fā)展存在的主要問題 15
1.3.2國內蔬菜取苗機構的發(fā)展方向 15
1.4本文的研究目標 16
1.5本文的主要工作及內容安排 17
1.6本章小結 17
第2章 蔬菜缽苗取苗機構的運動學分析 18
2.1取苗爪工作要求的實現(xiàn) 18
2.2蔬菜缽苗取苗機械手的機構組成與工作原理 19
2.3 橢圓齒輪傳動的運動分析 21
2.3.1 橢圓齒輪的嚙合特性及優(yōu)點 21
2.3.2 橢圓齒輪的角位移、角速度和傳動比分析 22
2.4蔬菜缽苗取苗機械手運動學模型的建立 24
2.4.1運動學分析符合的說明 24
2.4.2蔬菜缽苗取苗機械手位移分析 25
2.4.3機械手上各點位移方程和各構件角位移方程 26
2.4.4 機構上各點的速度方程和各構件角速度方程 28
2.4.5 機械手上各點的加度方程和各構件角加速度方程 29
2.5本章小結 31
第3章 蔬菜缽體苗自動移栽機取苗機構的參數(shù)優(yōu)化 32
3.1優(yōu)化目標與變量 32
3.2輔助分析優(yōu)化軟件 32
3.2.1人機交互簡介 33
3.2.2本課題人機交互軟件介紹 34
3.2.3橢圓齒輪參數(shù)計算 35
3.2.4取苗機構參數(shù)優(yōu)化步驟 35
3.2.5取苗爪尖點的速度分析 36
3.3本章小結 38
第4章 蔬菜缽苗自動移栽機取苗機構的結構設計 38
4.1蔬菜缽體自動移栽機取苗機構的整體結構設計 38
4.2取苗臂機構設計 40
4.3 CAD軟件介紹 41
4.3.1 CAD二維取苗機構零件圖 41
4.4 Proe軟件介紹 43
4.4.1 三維Proe取苗機構零件圖 44
4.5總裝配圖 45
4.6 本章小結 46
第5章 總結與展望 47
5.1 總結 47
5.2 進一步的展望 48
致 謝 49
參考文獻 50
附錄 52
摘 要
移栽是蔬菜生產過程中的重要環(huán)節(jié)之一，移栽具有對氣候的補償作用和使作物生育提早的綜合效益，可以充分利用光熱資源，其經濟效益和社會效益均非?？捎^。目前，國內正在應用的移栽機械多為半自動移植機，半自動移栽機靠手工送苗，效率低，勞動強度大，而國內自動移栽機的研究剛剛起步，自動移栽機從取苗到植苗都由機械自動完成，效率高。國外雖有一些自動移栽機應用于生產，但還處于不斷研究與推廣階段。而取苗機構是制約自動移栽機發(fā)展的“瓶頸”，也是制約蔬菜大規(guī)模種植的關鍵問題之一。因此設計一種新型的取苗機構替代手工取苗，已成為我國蔬菜種植業(yè)發(fā)展的迫切需要。
本文總結吸收了國內外各種取苗機構的優(yōu)缺點，在實驗室已有研究成果的基礎上，設計了一種新型蔬菜缽苗取苗機構，該機構可以單獨作為取苗機構，實現(xiàn)自動取苗；或通過改進部分結構參數(shù)，可以集栽取功能于一體，即取苗和栽植苗動作都由該套機構完成。該蔬菜缽苗取苗機構結構簡單，工作可靠，取苗效率高。本文主要的研究內容如下：
1.根據(jù)蔬菜缽苗取苗的技術特點和農藝要求，模擬人工取苗的軌跡、動作和姿態(tài)要求，發(fā)明蔬菜缽苗取苗機構，滿足機械取苗特殊的工作軌跡要求，比現(xiàn)有的蔬菜取苗機構工作效率高，并且工作平穩(wěn)。
2. 論述了該取苗機構的工作原理和結構特點，建立取苗機構的運動學模型。
3. 以建立的運動學模型為基礎，基于可視化開發(fā)平臺VB6.0，通過其軟件分析蔬菜缽苗取苗機構輔助分析與優(yōu)化軟件（軟件登記號：2011SR030044），介紹了該軟件的人機交互界面及功能，基于該軟件，解決了該機構運動學多目標優(yōu)化的難點。
4.根據(jù)蔬菜取苗農藝要求，提出蔬菜缽苗取苗機構參數(shù)優(yōu)化的目標和優(yōu)化方法，分析各參數(shù)變化對取苗機構運動特性的影響，利用自主開發(fā)軟件，采用人機交互的優(yōu)化方法，優(yōu)化出取苗機構的結構參數(shù)，滿足蔬菜缽苗取苗的工作要求。
5.按照優(yōu)化得到的結構參數(shù)，進行蔬菜缽苗取苗機構的總體設計，討論了設計中應該注意的問題，最后在ProE、CAD下完成裝配圖和各零件的設計。
6.建立取苗機構的三維實體模型，對其進行虛擬裝配。
關鍵詞：蔬菜缽苗；取苗機構；工作機理；參數(shù)優(yōu)化；試驗研究
Optimal and Design of Vegetable Plug Seedling Pick-up Mechanism of Planetary Gear Train with Ellipse Gears and Incomplete Non-circular Gear
Abstract
Transplanting is an important process of vegetable procreating, which has the function of compensating varying climate and shifting the procreating of plants to an earlier time. It helps the plants to use the source of light and temperature sufficiently, which will make considerable economical and social benefits. At present, most transplanting machines are semi-automatic transplanting machines ，they need pick up plug seedling by man ，which have high work intensity and low work efficiency ,and domestic research on automatic transplanting machine is just beginning . Automatic transplanting machine can pick up plug seedling and transplanting plug seedling by themselves ,which have low work intensity and high work efficiency. The overseas have automatic transplanting machine be applied in production,but the application and research on automatic transplanting machine is developing.Thus the pick up plug seedling machine is the key issues,which restricted the development of automatic transplanting machine and at same time ,which is also restricted the development of the plants of vegetable . So it's a pressing requirement to design a new kind of pick up plug seedling machine.
This paper concludes the merits and demerits of several kinds of transplanting machines from both domestic and abroad. Based on the achieved research result, a new vegetable plug seedling pick-up mechanism of planetary gear train with ellipse gears and incomplete non-circular gear has been designed. This vegetable plug seedling pick-up can be used as seedling fetching mechanism lonely to realize fetching seedlings automatically. Besides, if the mechanism parameters of this mechanism have been optimized properly, the motion of fetching seedlings and transplanting seedlings can both be realized by this mechanism. This vegetable plug seedling pick-up mechanism has simple structure and reliable performance. The main content of this paper is listed as bellow:
1. According to the technological characteristics and agricultural requirements, imitate the requirements of trajectory, motion and attitude of manual pick up plug seedling, invent the vegetable plug seedling pick-up mechanism, which can satisfy the special working trajectory requirements of fetching and pick up plug seedlings automatically. This new vegetable plug seedling pick-up mechanism has higher working efficiency, steadier transmission and less vibration than existing mechanism.
2. The working principle and structural features of this automatic vegetable plug seedling pick-up mechanism has been discussed and the kinematic mathematical model of this mechanism has been established.
3.Based on the established kinematic mathematical model and Visual Basic 6.0, develop the kinematic aided analytical and optimal software of this vegetable plug seedling pick-up mechanism (Register Number: 2011SR030044). Introduce the human-computer interactive interface and functions of this software. By this software, the difficulty of optimization with multiple kinematic objects of this mechanism can be solved.
4. According to the agricultural requirements in our country, put forward the parametric optimal objects and methods of the vegetable plug seedling pick-up mechanism. Analyze the influence of parameter vitiation on kinematic characteristics of this vegetable plug seedling pick-up mechanism. Take advantage of the developed software, use the optimization method of human-computer interactive, and obtain the structural parameters which can satisfy the working requirements of automatic vegetable pot seedling transplanting.
5. In accordance with the obtained structural parameters, design the ensemble of the vegetable plug seedling pick-up mechanism; discuss the problems which should be noticed in the process of designing. Finally finish the design of parts and the assembly drawing basing on ProE and CAD.
6. Establish the solid model of all parts of this vegetable plug seedling pick-up mechanism in UG6.0 and then carry out the virtual assemble.
Keywords: Vegetable plug seedling; Pick-up mechanism; Work principle; Parameters optimization; Test study
第1章 緒論
1.1前言
據(jù)FAO統(tǒng)計，2006年中國已成為世界上最大的蔬菜生產國，蔬菜產量約占世界總產量的49.6％[1]。改革開放以來，我國蔬菜產量每年呈持續(xù)增長的勢頭，發(fā)展迅猛。據(jù)中國農業(yè)統(tǒng)計資料顯示，我國蔬菜播種面積在上世紀80年代年均增長近10%，90年代年均增長14.5%，本世紀前7年平均增長1.9%，
5